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A Prototype Optical Tracking System Investigation and Development - page 135 / 170

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ness of the firmware, increase the communications bus bandwidth, implement a bundle adjustment algorithm, and to calibrate the system. The first two steps are both imple- mentation details and are achievable through firmware and hardware changes. The last

two steps may ware provided

require significant further research. Initially, the bundle adjustment soft-

by Lourakis and

rgyros could be investigated to determine how suitable

their approach is. System method. However, offline

calibration could be partially solved by the bundle adjustment lens calibration may prove advantageous and the method pro-

posed

by

Zhang

[28,52]

could

be

used.

Finally,

calibration

must

also

include

the

estimation

of the camera modules’ poses within the hub enclosure, and possibly the marker models. Marker models should describe how a centroid is biased the angle it is viewed upon.

construction with respect

of to

In summary, the Black Spot modules have potential to become part of a future optical tracking system with further research and development.

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